version: 66.04
glider: 105
mission: 5
dive: 10
start: 1 21 109 6 28 56
data:
$ID,105
$MISSION,5
$DIVE,10
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,668
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1626868.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2602
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.710485
$PRESSURE_SLOPE,0.0001163108
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,062408,4806.313,-12222.497,14,1.7,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.9
$GPS2,062806,4806.326,-12222.497,16,1.4,32,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.167
$KALMAN_X,-1073.8,-114.8,-50.5,2127.0,-314.0
$KALMAN_Y,1092.3,187.3,20.8,-4992.9,268.7
$MHEAD_RNG_PITCHd_Wd,114.5,862,-14.8,-8.000
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.24,-146.6,0.0,0.0,0,109,0.00,0.00,-90.80,0.000,2,0.000,0.000,397,1951,3653
$GC,112,-1.24,-146.6,4.1,-5.5,15,134,10.50,2.45,-3.97,0.000,4,0.142,0.055,2327,3344,3837
$GC,435,-1.24,-146.6,34.5,-8.9,58,442,0.00,2.38,0.00,0.000,6,0.000,0.027,2327,1941,3837
$GC,646,-1.24,-146.6,52.2,-8.6,77,650,0.00,2.47,0.00,0.000,4,0.000,0.042,2327,3344,3837
$GC,717,-1.24,-146.6,58.8,-8.8,80,722,0.00,2.38,0.00,0.000,6,0.000,0.027,2327,1944,3837
$GC,1034,-1.24,-146.6,83.6,-7.7,95,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1944,3838
$GC,1348,-1.24,-146.6,106.6,-7.2,114,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1944,3837
$STATE,1429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1429,begin apogee
$GC,1436,-0.36,0.0,112.8,7.3,122,1562,0.90,0.00,118.12,0.809,6,0.083,0.000,2516,2211,3239
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1565,1.24,146.6,115.4,0.0,135,1691,1.62,2.53,117.75,0.771,4,0.058,0.041,2868,803,2641
$GC,1713,1.24,146.6,104.4,10.4,149,1720,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2207,2640
$GC,2031,1.24,146.6,70.8,10.5,167,2035,0.00,2.47,0.00,0.000,4,0.000,0.040,2868,803,2640
$GC,2075,1.24,146.6,65.7,10.6,169,2079,0.00,2.42,0.00,0.000,6,0.000,0.030,2868,2205,2640
$GC,2402,1.24,146.6,32.7,9.8,193,2406,0.00,2.47,0.00,0.000,4,0.000,0.040,2868,797,2639
$GC,2443,1.24,146.6,28.8,9.9,196,2447,0.00,2.40,0.00,0.000,6,0.000,0.028,2868,2202,2640
$GC,2645,1.24,146.6,11.0,8.7,223,2651,0.00,2.45,0.00,0.000,4,0.000,0.040,2868,802,2639
$GC,2680,1.24,146.6,8.0,8.4,229,2688,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2202,2639
$GC,2757,1.36,244.9,3.8,4.4,242,2795,0.12,0.00,35.83,0.724,2,0.044,0.000,2917,2202,2465
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,3.2,1.019723
$STATE,2948,end surface coast,CONTROL_FINISHED_OK
$STATE,2948,begin surface
$SM_CCo,2951,397.40,0.700,0,0,475,678.01
$SM_GC,1.27,11.25,0.00,0.00,0.035,0.000,0.000,399,1940,469,-10.07,-0.17,679.48
$IRIDIUM_FIX,4748.51,-12221.84,170498,050521
$TT8_MAMPS,0.026845
$HUMID,1705
$INTERNAL_PRESSURE,7.9723
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,41.8
$24V_AH,23.5,16.031
$10V_AH,10.1,6.560
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.400,30.150,271.700,397.400,0.000,25.804,22.990,81.328,1.000,0.000,0.000,32.494,454.066,1621.494,707.730,593.881,335.946,33.339,1054.724,0.000,663.068,0.000,8.572,0.000
$DEVICE_MAMPS,141.895,55.224,809.185,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,189.120,247.370,485.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12847,275
$CAP_FILE_SIZE,37292,0
$CFSIZE,260165632,258932736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210109,072746,4806.130,-12222.254,11,2.8,30,18.3